“Sopranos” actor Lillo Brancato returned home Tuesday to an emotional reunion with his family after eight years in jail.

“It feels great to be home,” a teary Brancato, 37, his voice wavering, said as he jumped out of the backseat of a white Mercedes E350 that pulled into his Yonkers driveway just before 12:30 pm.

“Thanks for coming,” he told reporters. “Right now I just want to go see my family.”

As Brancato opened the front door, his mom, Domenica, could be heard screaming in joy, “Give me a hug!” as other relatives clapped and cheered.

Brancato was released from Hudson Correctional Facility, about 30 miles south of Albany, at 9 a.m. Tuesday after serving eight years of his ten-year sentence behind bars for a botched burglary that ended with his pal killing an off-duty cop.

Hours before his homecoming, relatives and friends flocked into the house, bearing food and gifts.

Mike Imperioli and Lillo Brancato in the ‘Sopranos.’Photo: Handout

Two young girls hung a sign, written in magic marker, that read: “Welcome home little Lillo! We missed you so much. Congratulations. We all love you!”

Sister-in-law Jeanine, her arms laden with pizza boxes, said, “We’re all very excited.”

Asked if Brancato had changed after nearly a decade behind bars, a friend carrying a tray of chocolate-covered strawberries said, “His attitude has definitely changed.”

Brancato had been trying to help accomplice Steven Armento break into a friend’s house to steal drugs on Dec. 10, 2005 when off-duty cop Danile Enchautegui, who lived nearby, came to investigate and Armento shot him in the chest, killing the officer.

The former star bragged about his release in a tweet that on Monday, saying it was his “last full day in prison.”